uyvug
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of theRobot by
Diff: ShapeDetect.cpp
- Revision:
- 20:55dcff40c5d9
- Parent:
- 19:d4d967a885dc
--- a/ShapeDetect.cpp Fri Apr 04 01:09:49 2014 +0000 +++ b/ShapeDetect.cpp Sat Apr 05 07:26:15 2014 +0000 @@ -281,23 +281,26 @@ { centerMass(&xcoord_val, &ycoord_val, &s_area_val); + pc.printf("\ncentriod calculated\n\r"); pc.printf("Center of Mass is at X: %d Y: %d\n\r", xcoord_val, ycoord_val, s_area_val); pc.printf("The area of the Mass is: %d\n\r", s_area_val); - //if( (s_area_val > (SQUARE_AREA - AREA_TOLERANCE)) && (s_area_val < (SQUARE_AREA + AREA_TOLERANCE)) ) { - if( (s_area_val > 3150) ) { - pc.printf("\nSQUARE DETECTECD\n\r"); +/* + if( (s_area_val > SQUARE_AREA) ) { + pc.printf("\nSQUARE DETECTECD\n\r"); return 1; } - //else if ((s_area_val > (TRIANGLE_AREA - AREA_TOLERANCE)) && (s_area_val < (TRIANGLE_AREA + AREA_TOLERANCE)) ) { - else if (s_area_val < 2600) { + else if (s_area_val < TRIANGLE_AREA) { pc.printf("\nTRIANGLE DETECTECD\n\r"); return 2; } else { pc.printf("\nCIRCLE DETECTECD\n\r"); return 3; } + */ + + return s_area_val; }